Autonomous Robotic Arm Manipulation for Planetary Missions using Causal Machine Learning

TL;DR

This work trains a manipulator to autonomously study objects of which it has no prior knowledge, such as planetary rocks, using causal machine learning in a simulated planetary environment.

Abstract

Autonomous robotic arm manipulators have the potential to make planetary exploration and in-situ resource utilization missions more time efficient and productive, as the manipulator can handle the objects itself and perform goal-specific actions. We train a manipulator to autonomously study objects of which it has no prior knowledge, such as planetary rocks. This is achieved using causal machine learning in a simulated planetary environment. Here, the manipulator interacts with objects, and classifies them based on differing causal factors. These are parameters, such as mass or friction coefficient, that causally determine the outcomes of its interactions. Through reinforcement learning, the manipulator learns to interact in ways that reveal the underlying causal factors. We show that this method works even without any prior knowledge of the objects, or any previously-collected training data. We carry out the training in planetary exploration conditions, with realistic manipulator models.

Figures (8)

• Figure 1: Manipulator used in simulations.
• Figure 2: CAD Drawing of Manipulator, showing dimensions of links (in mm).
• Figure 3: Flowchart showing different algorithm steps.
• Figure 4: Starting setup used in Test Case 1.
• Figure 5: Time series of objects labelled by k-means clustering.